<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.11"/>
<title>Collision Checker: /home/osboxes/Documents/p3/root_comm/root/tools/commonroad-collision-checker/cpp/collision/boundingvolume_util.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { init_search(); });
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Collision Checker
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.11 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
      <li><a href="namespaces.html"><span>Namespaces</span></a></li>
      <li><a href="annotated.html"><span>Classes</span></a></li>
      <li class="current"><a href="files.html"><span>Files</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="files.html"><span>File&#160;List</span></a></li>
      <li><a href="globals.html"><span>File&#160;Members</span></a></li>
    </ul>
  </div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div id="nav-path" class="navpath">
  <ul>
<li class="navelem"><a class="el" href="dir_df511e5bd85cec96854b39d5e1c27aa8.html">cpp</a></li><li class="navelem"><a class="el" href="dir_bf0f0c8865c1942e08ab5157e2c596db.html">collision</a></li>  </ul>
</div>
</div><!-- top -->
<div class="header">
  <div class="headertitle">
<div class="title">boundingvolume_util.h</div>  </div>
</div><!--header-->
<div class="contents">
<a href="boundingvolume__util_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="boundingvolume_8h.html">boundingvolume.h</a>&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &lt;stack&gt;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">using</span> <a class="code" href="namespacecollision.html#a518590130522293c6af011250b39738b">BoundingVolumeConstPtrPair</a> = std::pair&lt;<a class="code" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a>,</div><div class="line"><a name="l00008"></a><span class="lineno"><a class="line" href="namespacecollision.html#a518590130522293c6af011250b39738b">    8</a></span>&#160;                                             BoundingVolumeConstPtr&gt;;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;BoundingVolumeConstPtr <a class="code" href="namespacecollision.html#a50c2c749f9661cfd59a7e344ee164efb">buildBoundingVolumeHierarchy</a>(</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;    std::vector&lt;CollisionObjectConstPtr&gt; collision_objects_);</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="classcollision_1_1_b_v_h_intersection.html">   13</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1_b_v_h_intersection.html">BVHIntersection</a> {</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <a class="code" href="classcollision_1_1_b_v_h_intersection.html#af8aa6eca31346f0088fb18fd5ec90c7b">BVHIntersection</a>(BoundingVolumeConstPtr bvh_a,</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;                  BoundingVolumeConstPtr bvh_b);</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <a class="code" href="namespacecollision.html#a518590130522293c6af011250b39738b">BoundingVolumeConstPtrPair</a> <a class="code" href="classcollision_1_1_b_v_h_intersection.html#afdf2d313a271e2035b5ce710f95c5b68">nextCandidates</a>();</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  std::vector&lt;BoundingVolumeConstPtrPair&gt; <a class="code" href="classcollision_1_1_b_v_h_intersection.html#a0bac7a0c49a9addcd87c7354b46c9928">findAllCandidates</a>();</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_b_v_h_intersection.html#a2741854953bb8daa3f82b33e8a8dd03f">hasNextCandidates</a>();</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_b_v_h_intersection.html#abedecb8be5b2c2c02b8f1d683e239230">reset</a>();</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <span class="keywordtype">void</span> findNextCandidate();</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <span class="keywordtype">void</span> traverseTreeStep();</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="keywordtype">void</span> updateNextIntersectionTest();</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  BoundingVolumeConstPtr root_bvh_a_;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  BoundingVolumeConstPtr root_bvh_b_;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  std::stack&lt;BoundingVolumeConstPtrPair&gt; pairs_of_bvh_to_check_;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  std::vector&lt;BoundingVolumeConstPtrPair&gt; narrow_phase_candidates_;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keywordtype">bool</span> new_narrow_phase_candidate_;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;};</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;}</div><div class="ttc" id="boundingvolume_8h_html"><div class="ttname"><a href="boundingvolume_8h.html">boundingvolume.h</a></div></div>
<div class="ttc" id="classcollision_1_1_b_v_h_intersection_html"><div class="ttname"><a href="classcollision_1_1_b_v_h_intersection.html">collision::BVHIntersection</a></div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume__util_8h_source.html#l00013">boundingvolume_util.h:13</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="_application_8h_source.html#l00025">Application.h:25</a></div></div>
<div class="ttc" id="namespacecollision_html_a50c2c749f9661cfd59a7e344ee164efb"><div class="ttname"><a href="namespacecollision.html#a50c2c749f9661cfd59a7e344ee164efb">collision::buildBoundingVolumeHierarchy</a></div><div class="ttdeci">BoundingVolumeConstPtr buildBoundingVolumeHierarchy(std::vector&lt; CollisionObjectConstPtr &gt; collision_objects_)</div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume__util_8cc_source.html#l00102">boundingvolume_util.cc:102</a></div></div>
<div class="ttc" id="classcollision_1_1_b_v_h_intersection_html_af8aa6eca31346f0088fb18fd5ec90c7b"><div class="ttname"><a href="classcollision_1_1_b_v_h_intersection.html#af8aa6eca31346f0088fb18fd5ec90c7b">collision::BVHIntersection::BVHIntersection</a></div><div class="ttdeci">BVHIntersection(BoundingVolumeConstPtr bvh_a, BoundingVolumeConstPtr bvh_b)</div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume__util_8cc_source.html#l00010">boundingvolume_util.cc:10</a></div></div>
<div class="ttc" id="classcollision_1_1_b_v_h_intersection_html_afdf2d313a271e2035b5ce710f95c5b68"><div class="ttname"><a href="classcollision_1_1_b_v_h_intersection.html#afdf2d313a271e2035b5ce710f95c5b68">collision::BVHIntersection::nextCandidates</a></div><div class="ttdeci">BoundingVolumeConstPtrPair nextCandidates()</div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume__util_8cc_source.html#l00045">boundingvolume_util.cc:45</a></div></div>
<div class="ttc" id="classcollision_1_1_b_v_h_intersection_html_abedecb8be5b2c2c02b8f1d683e239230"><div class="ttname"><a href="classcollision_1_1_b_v_h_intersection.html#abedecb8be5b2c2c02b8f1d683e239230">collision::BVHIntersection::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume__util_8cc_source.html#l00019">boundingvolume_util.cc:19</a></div></div>
<div class="ttc" id="classcollision_1_1_b_v_h_intersection_html_a2741854953bb8daa3f82b33e8a8dd03f"><div class="ttname"><a href="classcollision_1_1_b_v_h_intersection.html#a2741854953bb8daa3f82b33e8a8dd03f">collision::BVHIntersection::hasNextCandidates</a></div><div class="ttdeci">bool hasNextCandidates()</div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume__util_8cc_source.html#l00030">boundingvolume_util.cc:30</a></div></div>
<div class="ttc" id="classcollision_1_1_b_v_h_intersection_html_a0bac7a0c49a9addcd87c7354b46c9928"><div class="ttname"><a href="classcollision_1_1_b_v_h_intersection.html#a0bac7a0c49a9addcd87c7354b46c9928">collision::BVHIntersection::findAllCandidates</a></div><div class="ttdeci">std::vector&lt; BoundingVolumeConstPtrPair &gt; findAllCandidates()</div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume__util_8cc_source.html#l00073">boundingvolume_util.cc:73</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1f68b4864b28e2694b3b3b7a1f9e43c"><div class="ttname"><a href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">collision::BoundingVolumeConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const BoundingVolume &gt; BoundingVolumeConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00035">collision_object.h:35</a></div></div>
<div class="ttc" id="namespacecollision_html_a518590130522293c6af011250b39738b"><div class="ttname"><a href="namespacecollision.html#a518590130522293c6af011250b39738b">collision::BoundingVolumeConstPtrPair</a></div><div class="ttdeci">std::pair&lt; BoundingVolumeConstPtr, BoundingVolumeConstPtr &gt; BoundingVolumeConstPtrPair</div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume__util_8h_source.html#l00008">boundingvolume_util.h:8</a></div></div>
</div><!-- fragment --></div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated by &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.11
</small></address>
</body>
</html>
